The Application of GPS/SINS Integration Based on Kalman Filter
The integration system of Global Positioning System (GPS) and strap-down inertial navigation system (SINS) has been widely applied for unmanned aerial vehicle (UAV) because of their complementary characteristics. In order to lower the price and reduce the volume, SINS is usually designed based on low-accuracy inertial measurement unit (IMU). Because low-accuracy sensors lead to severe drift of the math platform, GPS measurement information need to correct output values of IMU to meet accuracy requirement. Besides, the main advantage of integration system is the availability of reliable navigation information during the intervals of GPS or SINS missing data. The simulations are carried on by the data acquired from the actual flight test. The performances of integrated navigation system are also verified by UAV actual flight experiments.
SINS GPS Kalman Filter
GENG Qingbo LI Nan LI Baokui
School of Automation, Beijing Institute of Technology, Beijing 100081
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4607-4610
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）